启动时加载最近12个小时未完成的任务

取消料架时,如果最后一个料架已无空位,查找上一个有空位的料架
发料任务结束时,保存上一个需求单使用的料架,用于判断是否是新的料架
包装仓AGV任务被取消时,导致锁定库位无法清理的问题
一个机器人工作时,无法放入大料架12或小料架70,71,72位置的问题
出库优先,入库查找没有出库任务的料仓,如果无空闲料仓,进行等待

README.md

@@ -355,8 +355,8 @@ IP: 10.85.160.181
 >>` {"code":0,"msg":"ok","data":""}`
 >>
 >> - code: 0为正常,其他为异常, 
->> - msg:消息, 
->> - data:
+          >> - msg:消息, 
+          >> - data:
 
 
 

myproject/src/main/java/com/myproject/bean/qisda/InquiryShelfBean.java

@@ -46,7 +46,7 @@ public class InquiryShelfBean {
         if(hSerial != null){
             Map<String, ShelfInfo> shelfMap = hSerialShelfMap.get(hSerial);
             if(shelfMap != null){
-                log.info("清理["+hSerial+"]使用的过料架");
+                log.info("清理["+hSerial+"]使用过的料架");
                 hSerialShelfMap.remove(hSerial);
                 QisdaCache.saveShelfMap(hSerialShelfMap);
             }
@@ -619,7 +619,7 @@ public class InquiryShelfBean {
                         //包装料还需要取消C料架
                         targetShelfType = StorageConstants.SHEFL_TYPE.C;
                     }
-                    if(shelfInfo.getShelfType().equals(targetShelfType)){
+                    if(shelfInfo.getShelfType().equals(targetShelfType) && !shelfInfo.isFull()){
                         if(maxShelf == null || shelfInfo.getRfidIndex() > maxShelf.getRfidIndex()){
                             maxShelf = shelfInfo;
                         }

myproject/src/main/java/com/myproject/bean/qisda/ShelfInfo.java

@@ -348,6 +348,16 @@ public class ShelfInfo {
                         }
                     }
                 }
+
+                if(shelfLoc == null && StorageConstants.SHEFL_TYPE.isCShelf(shelfType)){
+                    //如果执行到这里还有空,说明另一个机器人停掉了只能分配了
+                    for(int i=usedCount; i> 0; i--){
+                        shelfLoc = lockLocation(i,barcode,reelType);
+                        if(shelfLoc != null){
+                            return shelfLoc;
+                        }
+                    }
+                }
                 return shelfLoc;
 
             }else if(robotIndex.equals("2")){
@@ -372,6 +382,16 @@ public class ShelfInfo {
                         }
                     }
                 }
+
+                if(shelfLoc == null && StorageConstants.SHEFL_TYPE.isDShelf(shelfType)){
+                    //如果执行到这里还有空,说明另一个机器人停掉了只能分配了
+                    for(int i=usedCount; i> 0; i--){
+                        shelfLoc = lockLocation(i,barcode,reelType);
+                        if(shelfLoc != null){
+                            return shelfLoc;
+                        }
+                    }
+                }
                 return shelfLoc;
 
             }else {

myproject/src/main/java/com/myproject/dao/mongo/impl/DataLogDaoImpl.java

@@ -115,9 +115,9 @@ public class DataLogDaoImpl extends AbstractMongoDao implements IDataLogDao {
         //Criteria c = Criteria.where("appendInfo.hSerial").is(executingHSerial).and("lessSendReel").is(false).and("status").nin(StorageConstants.OP_STATUS.FINISHED.name(),StorageConstants.OP_STATUS.CANCEL.name());
 
         Criteria c = Criteria.where("status").nin(StorageConstants.OP_STATUS.FINISHED.name(),StorageConstants.OP_STATUS.CANCEL.name()).and("stopSendToQisda").is(false);
-        //只查找近5个小时未完成的任务
+        //只查找近12个小时未完成的任务
         Calendar calendar = Calendar.getInstance();
-        calendar.add(Calendar.HOUR_OF_DAY,-5);
+        calendar.add(Calendar.HOUR_OF_DAY,-12);
         c.and("createDate").gte(calendar.getTime());
         Query query = Query.query(c);
         List<DataLog> unFinishedTasks = findByQuery(query);

myproject/src/main/java/com/myproject/dao/mongo/qisda/IOutItemDao.java

@@ -9,7 +9,7 @@ public interface IOutItemDao extends IMongoDao {
 
     List<OutItem> findByHSerial(String hSerial);
 
-    List<OutItem> findCutItemList(List<String> cutHserialList, String pn, String facility);
+    List<OutItem> findCutItemList(List<String> soseqList, String pn, String facility);
 
     OutItem findItem(String hSerial, int slotSeq);
 

myproject/src/main/java/com/myproject/webapp/controller/qisda/util/OutInfoCache.java

@@ -332,8 +332,9 @@ public class OutInfoCache {
      * 任务开始时,初始化出库任务数
      * @param hSerial
      * @param outReelNum
+     * @param lessSend 是否是缺料补发
      */
-    public void resetTaskNum(String hSerial, int outReelNum){
+    public void resetTaskNum(String hSerial, int outReelNum, boolean lessSend){
         OutInfo outInfo = getOutInfoFromCache(hSerial);
         if(outInfo != null){
             outInfo.setOutReelNum(0);
@@ -440,12 +441,6 @@ public class OutInfoCache {
             outInfoMap.put(hSerial, outInfo);
             outInfoDao.updateTaskFinishNum(hSerial,taskFinishNum);
             updateSendStatus(outInfo.gethSerial());
-
-            if(outInfo.isTaskEnd()){
-                //本次任务已结束,清理料架
-
-                InquiryShelfBean.clearShelf(outInfo.gethSerial());
-            }
             return outInfo;
 
 
@@ -476,7 +471,6 @@ public class OutInfoCache {
             }
 
             if(outInfo.isTaskEnd()){
-                outInfo.setTaskEndTime(System.currentTimeMillis());
                 if(sendEnd){
                     outInfo.setSendStatus(StorageConstants.SEND_STATUS.SEND_OK);
                 }else{
@@ -484,6 +478,21 @@ public class OutInfoCache {
                     outInfo.setSendStatus(StorageConstants.SEND_STATUS.SEND_LESS);
                 }
 
+                //本次任务已结束,清理料架(首盘和补料使用的C和D料架不清理)
+
+                long lastTaskEndTime = outInfo.getTaskEndTime();
+                if(lastTaskEndTime <= 0){
+                    //outInfo是第一次执行的首盘或补料需求单,更新上次需求单使用过的料架
+                    if(outInfo.isFirstReelAction() || outInfo.isTailAction()){
+                        List<String> usedRfidList = InquiryShelfBean.getUsedRfidList(outInfo.gethSerial());
+                        QisdaCache.updateUsedRfid(usedRfidList);
+                        log.info("更新需求单["+outInfo.gethSerial()+"]使用过的料架:" + String.join("," + usedRfidList));
+                    }
+                }
+
+                InquiryShelfBean.clearShelf(outInfo.gethSerial());
+
+                outInfo.setTaskEndTime(System.currentTimeMillis());
                 outInfoDao.updateTaskEndTime(outInfo.gethSerial(), outInfo.getTaskEndTime());
                 outInfoDao.updateStatus(outInfo.gethSerial(), -1 , outInfo.getSendStatus());
             }
@@ -689,7 +698,7 @@ public class OutInfoCache {
         if(outReelNum > 0){
             log.info("需求单"+outInfo.gethSerial()+"已出("+outInfo.getOutReelNum()+")/已发("+outInfo.getTaskFinishNum()+") 本次出库料盘数量:" + outReelNum);
 
-            resetTaskNum(hSerial, outReelNum);
+            resetTaskNum(hSerial, outReelNum,outInfoExecuted);
 
             //补料出库,且不是缺料重发,需要重新排序,按站位序号循环出,每次出最大的盘
             if(outInfo.isTailAction() && !outInfoExecuted){
@@ -713,7 +722,7 @@ public class OutInfoCache {
         }
 
         if(outInfo.isReelCutAction() || outInfo.isFirstReelAction()){
-            if(outReelNum == 0){
+            if(!outInfoExecuted && outReelNum == 0){
                 List<OutItem> outItemList = outItemDao.findByHSerial(outInfo.gethSerial());
                 boolean lessBind = false;
                 QisdaApi.VMILocationOutFeedback(outItemList, lessBind);

myproject/src/main/java/com/myproject/webapp/controller/webService/QisdaBindService.java

@@ -235,15 +235,6 @@ public class QisdaBindService {
                     log.info("\t分盘料["+barcode.getBarcode()+"]绑定到So=["+outItem.getSo()+"]hSerial=["+outItem.getSourceName()+"]数量:" + lockQty +"/" + outItem.getQty());
                     if(!barcode.hasCutInfo()){
                         //没有分盘信息,可以直接绑定
-//                        AppendInfo appendInfo = barcode.getAppendInfo();
-//                        appendInfo.sethSerial(outItem.gethSerial());
-//                        appendInfo.setRefno(outItem.getRefno());
-//                        appendInfo.setSo(outItem.getSo());
-//                        appendInfo.setSoseq(outItem.getSoseq());
-//                        appendInfo.setSlotStr(outItem.getSlotStr());
-//                        appendInfo.setBindSlot(outItem.getSlotlocation() + "");
-//                        appendInfo.setSlotIndex(outItem.getSlotlocation());
-//                        barcode.setAppendInfo(appendInfo);
                         barcode.realBindItem(outItem);
                         int realLockQty = outItem.getRealLockQty() + barcode.getAmount();
                         outItem.setRealLockQty(realLockQty);
@@ -442,7 +433,7 @@ public class QisdaBindService {
         List<String> lessSoseqList = new ArrayList<>();
         List<OutInfo> cacheOutInfoList = outInfoCache.getCachedOutInfos();
         for (OutInfo unEndOutInfo : cacheOutInfoList) {
-            if(!unEndOutInfo.isClosed() && unEndOutInfo.isSendLess()){
+            if(!unEndOutInfo.isClosed() && unEndOutInfo.isRealBindLess()){
                 String soseq = unEndOutInfo.getSoseq();
                 if(!lessSoseqList.contains(soseq)){
                     lessSoseqList.add(soseq);
@@ -460,7 +451,7 @@ public class QisdaBindService {
 
         for (OutItem outItem : cutItemList) {
             if(!outItem.isBindOk()){
-                OutInfo outInfo = soseqCache.getCutActionInfoFromCache(outItem.gethSerial());
+                OutInfo outInfo = soseqCache.getCutActionInfoFromCache(outItem.getSoseq());
                 if(outInfo != null){
                     //真实绑定缺料
                     if(outItem.realBindLessQty() > 0){

myproject/src/main/java/com/myproject/webapp/controller/webService/QisdaCache.java

@@ -115,6 +115,30 @@ public class QisdaCache {
     }
 
     /**
+     * 根据料架和料架位置获取锁定的库位信息,如果不存在,返回null
+     * @param rfid
+     * @param rfidLoc
+     * @return
+     */
+    public static ReelLockPosInfo getLockPosInfoByRfidLoc(String rfid, String rfidLoc){
+        if(Strings.isNotBlank(rfid) && Strings.isNotBlank(rfidLoc)){
+            for (ReelLockPosInfo reelLockPosInfo : reelLocKPosMap.values()) {
+                String lockRfid = reelLockPosInfo.getRfid();
+                String lockRfidLoc = reelLockPosInfo.getRfidLoc();
+                if(Strings.isNotBlank(lockRfid) && Strings.isNotBlank(lockRfidLoc)){
+                    if(rfid.equals(lockRfid) && rfidLoc.equals(rfidLoc)){
+                        return reelLockPosInfo;
+                    }
+                }
+            }
+        }
+
+        return null;
+    }
+
+
+
+    /**
      * 获取料架上料盘锁定的库位信息
      * @param rfid
      * @return
@@ -278,12 +302,15 @@ public class QisdaCache {
         }
         String oldHSerial = currentOrderHSerial;
         log.info("设置当前正在执行的工单料需求为:" + executeHSerial+"清理之前["+oldHSerial+"]出库使用的料架");
-        lastHSerialUsedRfidList = InquiryShelfBean.getUsedRfidList(oldHSerial);
         InquiryShelfBean.clearShelf(oldHSerial);
         currentOrderHSerial = executeHSerial;
         cacheInfoDao.updateCacheItem(CURRENT_ORDER_HSERIAL_KEY, currentOrderHSerial);
     }
 
+    public static void updateUsedRfid(List<String> usedRfidList){
+        lastHSerialUsedRfidList = usedRfidList;
+    }
+
     /**
      * 是否是上个工单需求单使用过的料架
      */

myproject/src/main/java/com/myproject/webapp/controller/webService/QisdaDeviceController.java

@@ -954,6 +954,8 @@ public class QisdaDeviceController extends BaseController {
             if(cacheTask != null){
                 hSerial = cacheTask.getAppendInfo().gethSerial();
             }
+            List<String> usedRfidList = InquiryShelfBean.getUsedRfidList(hSerial);
+
             ShelfInfo shelfInfo = InquiryShelfBean.findSameShelf(hSerial,rfid);
             if(shelfInfo != null){
                 Map<Integer, ShelfLoc> locMap = shelfInfo.getLocMap();
@@ -981,10 +983,17 @@ public class QisdaDeviceController extends BaseController {
                     smallEmpty = 100;
                     bigEmpty = 100;
                     packageEmpty = 100;
+                }else{
+                    //为了料架能重用,如果当前执行的需求单料已经放上料架,则清空上一个需求单使用过的料架
+                    if(!usedRfidList.isEmpty()){
+                        log.info("料架["+rfid+"]上一个需求单已使用,当前需求单["+hSerial+"]物料已放上料架,清理上一个需求单使用过的料架");
+                        QisdaCache.updateUsedRfid(null);
+                    }
+
                 }
             }
 
-            List<String> usedRfidList = InquiryShelfBean.getUsedRfidList(hSerial);
+
 
             //剩余的任务数
             Map<String,Object> resultMap = new HashMap<>();

myproject/src/main/java/com/myproject/webapp/controller/webService/StorageDataController.java

@@ -583,54 +583,53 @@ public class StorageDataController extends BaseController {
 
                 try {
                     Barcode barcode = dataCache.resolveOneValideBarcode(code);
-                    String lockPosId = QisdaCache.getReelLockPosId(barcode.getBarcode());
-                    StoragePos pos = null;
-                    if(!Strings.isNullOrEmpty(lockPosId)){
-                        //已有锁定库位
-                        pos = storagePosManager.get(lockPosId);
-
-                        if(pos != null ){
-                            if(pos.getW() < barcode.getPlateSize() || pos.getH() < barcode.getHeight()){
-                                log.info("条码["+barcode.getBarcode()+"]尺寸已改变,无法放入已锁定库位["+pos.getPosName()+"],重新查找库位");
-                                pos = null;
-                            }else{
-                                Barcode posBarcode = pos.getBarcode();
-                                if(posBarcode == null){
-                                    log.info("条码["+barcode.getBarcode()+"]已锁定库位["+pos.getPosName()+"],返回锁定中的库位");
-                                }else{
-                                    log.info("条码["+barcode.getBarcode()+"]已锁定库位["+pos.getPosName()+"]中已有物料["+posBarcode.getBarcode()+"],重新查找库位");
-                                    pos = null;
+
+                    StoragePos pos = taskService.findEmptyPosForPutIn(storageList,barcode, rfid);
+
+                    if(pos != null){
+
+                        Storage storage = dataCache.getStorageById(pos.getStorageId());
+                        if(!storage.isPackage()){
+                            //不是包装仓,如果所在料仓有出库任务,暂停入库
+                            Collection<DataLog> tasks = taskService.getQueueTasks();
+                            for (DataLog task : tasks) {
+                                if(task.isCheckOutTask() && task.getStorageId().equals(pos.getStorageId())){
+                                    errorMsg = "库位["+ pos.getPosName() + "]所在料仓有出库任务,暂停入库";
+                                    lineMsg = errorMsg;
+                                    resultMap.put("result","99");
+                                    resultMap.put("msg",errorMsg);
+                                    return resultMap;
                                 }
                             }
                         }
-                    }
 
-                    if(pos == null){
-                        pos = taskService.findEmptyPosForPutIn(storageList,barcode, rfid);
-                    }
 
-                    if(pos != null){
 
-                        String result = "0";
+                        Storage theStorage = dataCache.getStorageById(pos.getStorageId());
+
+                        resultMap.put("result","0");
+                        resultMap.put("msg","");
 
-                        //如果料仓有正在执行或者等待执行的任务,客户端先进行等待
-                        Collection<DataLog> tasks = taskService.getQueueTasks();
-                        for (DataLog task : tasks) {
-                            if(task.isCheckOutTask() && task.getStorageId().equals(pos.getStorageId())){
-                                lineMsg = "库位["+ pos.getPosName() + "]所在料仓有出库任务,暂停入库";
-                                result = "99";
-                                break;
+                        okMsg = "["+rfid+"]["+barcode.getBarcode()+"]锁定库位["+pos.getPosName()+"]";
+
+                        ReelLockPosInfo oldLockInfo = QisdaCache.getLockPosInfoByRfidLoc(rfid, rfidLoc);
+                        if(oldLockInfo != null){
+                            if(!oldLockInfo.getBarcode().equals(barcode.getBarcode())){
+                                String result = "-1";
+                                okMsg = "["+rfid+"]["+barcode.getBarcode()+"]锁定库位["+pos.getPosName()+"],清理旧有锁定库位";
+                                resultMap.put("result",result);
+                                resultMap.put("msg",okMsg);
+                                //已经锁定过库位,但不是同一个条码,需要把对应位置的锁定信息清理掉
+                                List<ReelLockPosInfo> lockPosInfoList = QisdaCache.getShelfLockPosInfo(rfid);
+                                for (ReelLockPosInfo reelLockPosInfo : lockPosInfoList) {
+                                    QisdaCache.removeReelLockPosInfo(reelLockPosInfo.getBarcode());
+                                    log.info("清理料架"+reelLockPosInfo.getRfid()+"["+reelLockPosInfo.getRfidLoc()+"]上物料["+reelLockPosInfo.getBarcode()+"]锁定的库位");
+                                }
                             }
                         }
 
-                        resultMap.put("result",result);
-                        resultMap.put("msg","");
-                        resultMap.put("pos",pos.getPosName());
-                        resultMap.put("barcode",barcode.getBarcode());
-                        Storage theStorage = dataCache.getStorageById(pos.getStorageId());
-                        resultMap.put("cid",theStorage.getCid());
-                        okMsg = "["+rfid+"]["+barcode.getBarcode()+"]锁定库位["+pos.getPosName()+"]";
                         log.info(okMsg);
+
                         ReelLockPosInfo reelLocInfo = new ReelLockPosInfo();
                         reelLocInfo.setBarcode(barcode.getBarcode());
                         reelLocInfo.setCid(theStorage.getCid());
@@ -639,14 +638,18 @@ public class StorageDataController extends BaseController {
                         reelLocInfo.setRfid(rfid);
                         reelLocInfo.setRfidLoc(rfidLoc);
                         QisdaCache.addReelLockPosInfo(reelLocInfo);
-                        //taskService.addPutInTaskToExecute(theStorage, barcode, pos);
+
+
+                        resultMap.put("pos",pos.getPosName());
+                        resultMap.put("barcode",barcode.getBarcode());
+                        resultMap.put("cid",theStorage.getCid());
                     }else{
                         resultMap.put("result","104");
-                        errorMsg = "未找到可用的["+barcode.getPlateSize() + "x" + barcode.getHeight()+"]仓位";
+                        errorMsg = "["+barcode.getBarcode()+"]未找到可用的["+barcode.getPlateSize() + "x" + barcode.getHeight()+"]仓位";
                         resultMap.put("msg",errorMsg);
 
                     }
-                } catch (ValidateException e) {
+                } catch (Exception e) {
                     errorMsg = e.getMessage();
                     log.info("查找空库位失败:" + errorMsg);
                     resultMap.put("result","105");

myproject/src/main/java/com/myproject/webapp/controller/webService/TaskService.java

@@ -470,6 +470,13 @@ public class TaskService implements ITaskService {
     public StoragePos findEmptyPosForPutIn(List<Storage> storageList, Barcode barcode, String inRFID) throws ValidateException{
         verifyBarcodePutIn(storageList ,barcode, inRFID);
 
+        //查找任务数最少的料仓
+        Map<String,Integer> storageTaskCountMap = new HashMap<>();
+        for (Storage storage : storageList) {
+            storageTaskCountMap.put(storage.getId(), 0);
+        }
+        Set<String> hasOutTaskStorageIds = new HashSet<>();
+
         //如果有正在执行的任务,把库位发过去
         Collection<DataLog> allTasks = taskMap.values();
         for (DataLog task : allTasks) {
@@ -478,32 +485,48 @@ public class TaskService implements ITaskService {
                 log.info(barcode.getBarcode() + " 已有任务,返回任务中的库位:" + task.getPosName());
                 return storagePosManager.get(posId);
             }
-        }
-
 
-        //查找任务数最少的料仓
-        Map<String,Integer> executingTaskCountMap = new HashMap<>();
-        for (Storage storage : storageList) {
-            executingTaskCountMap.put(storage.getId(), 0);
-        }
-
-        Set<String> hasOutTaskStorageIds = new HashSet<>();
-        for (DataLog task : allTasks) {
             String storageId = task.getStorageId();
             if(!Strings.isNullOrEmpty(storageId)){
-                Integer taskCount = executingTaskCountMap.get(storageId);
+                Integer taskCount = storageTaskCountMap.get(storageId);
                 if(taskCount != null){
-                    if(task.isExecuting()){
-                        taskCount = taskCount + 1;
-                        executingTaskCountMap.put(storageId, taskCount);
-                    }
+                    taskCount = taskCount + 1;
+                    storageTaskCountMap.put(storageId, taskCount);
                 }
-                if(task.isCheckOutTask() && task.isExecuting()){
+                if(task.isCheckOutTask()){
                     hasOutTaskStorageIds.add(storageId);
                 }
             }
+
         }
 
+        String lockPosId = QisdaCache.getReelLockPosId(barcode.getBarcode());
+        StoragePos pos = null;
+        if(!Strings.isNullOrEmpty(lockPosId)){
+            //已有锁定库位
+            pos = storagePosManager.get(lockPosId);
+
+            if(pos != null ){
+                if(pos.getW() < barcode.getPlateSize() || pos.getH() < barcode.getHeight()){
+                    log.info("条码["+barcode.getBarcode()+"]尺寸已改变,无法放入已锁定库位["+pos.getPosName()+"],重新查找库位");
+                    pos = null;
+                }else{
+                    Barcode posBarcode = pos.getBarcode();
+                    if(posBarcode == null){
+                        log.info("条码["+barcode.getBarcode()+"]已锁定库位["+pos.getPosName()+"],返回锁定中的库位");
+                    }else{
+                        log.info("条码["+barcode.getBarcode()+"]已锁定库位["+pos.getPosName()+"]中已有物料["+posBarcode.getBarcode()+"],重新查找库位");
+                        pos = null;
+                    }
+                }
+            }
+        }
+
+        if(pos != null){
+            return pos;
+        }
+
+
         //可用的料仓(在线,且可以放入)
         List<Storage> availbleStorageList = new ArrayList<>();
 
@@ -512,14 +535,14 @@ public class TaskService implements ITaskService {
             if(status.timeOut()){
                 continue;
             }
-            if(!status.isBoxCanPutIn()){
-                //料仓不可入库
-                continue;
-            }
-            if(hasOutTaskStorageIds.contains(storage.getId())){
-                //有正在执行的出库任务
-                continue;
-            }
+//            if(!status.isBoxCanPutIn()){
+//                //料仓不可入库
+//                continue;
+//            }
+//            if(hasOutTaskStorageIds.contains(storage.getId())){
+//                //有出库任务
+//                continue;
+//            }
 
             if(storage.canPutIn(barcode.getPlateSize(),barcode.getHeight())){
                 availbleStorageList.add(storage);
@@ -530,49 +553,30 @@ public class TaskService implements ITaskService {
             throw new ValidateException("料仓列表中未找到可用的料仓");
         }
 
-        return findEmptyPosInStorages(barcode, availbleStorageList, executingTaskCountMap);
+        return findEmptyPosInStorages(barcode, availbleStorageList, storageTaskCountMap);
     }
 
-    private synchronized StoragePos findEmptyPosInStorages(Barcode barcode, List<Storage> availbleStorageList, Map<String,Integer> executingTaskCountMap){
-        //优先从没有出库任务的料仓中查找库位
-        for (Storage storage : availbleStorageList) {
-            Integer executingTaskCount = executingTaskCountMap.get(storage.getId());
-            if(executingTaskCount >= 1){
-                continue;
-            }
-            try{
-                log.info("尝试从无出库任务的料仓["+storage.getCid()+"]中为["+barcode.getBarcode()+"]查找空位,当前料仓正在执行任务数:" + executingTaskCount);
-                return findLineEmptyPosForPutIn(storage,barcode);
-            }catch(Exception e){
-                log.info("尝试从["+storage.getCid()+"]中为["+barcode.getBarcode()+"]查找空位失败:" + e.getMessage());
-            }
-        }
-
-        for (Storage storage : availbleStorageList) {
-            Integer executingTaskCount = executingTaskCountMap.get(storage.getId());
-            if(executingTaskCount >= 2){
-                continue;
+    private synchronized StoragePos findEmptyPosInStorages(Barcode barcode, List<Storage> availbleStorageList, final Map<String,Integer> executingTaskCountMap){
+        availbleStorageList.sort(new Comparator<Storage>() {
+            @Override
+            public int compare(Storage o1, Storage o2) {
+                Integer taskCount1 = executingTaskCountMap.get(o1.getId());
+                Integer taskCount2 = executingTaskCountMap.get(o2.getId());
+                return taskCount1.compareTo(taskCount2);
             }
-
-            try{
-                log.info("尝试从["+storage.getCid()+"]为["+barcode.getBarcode()+"]查找空位,当前料仓正在执行任务数:" + executingTaskCount);
-                return findLineEmptyPosForPutIn(storage,barcode);
-            }catch(Exception e){
-                log.info("尝试从["+storage.getCid()+"]中为["+barcode.getBarcode()+"]查找空位失败:" + e.getMessage());
-            }
-        }
-
-        //只有一个料仓可以入时,只能继续往里面放
-        log.info("可用料仓太少,不按任务数分配,重新查找...");
+        });
+        Collection<String> operatingPosIds = excludePosIds();
         for (Storage storage : availbleStorageList) {
             try{
-                log.info("不按任务数分配,尝试从["+storage.getCid()+"]中为["+barcode.getBarcode()+"]查找空位");
-                return findLineEmptyPosForPutIn(storage,barcode);
+                log.info("尝试从["+storage.getCid()+"]中为["+barcode.getBarcode()+"]查找空位");
+                StoragePos pos = storagePosManager.getEmptyPosByStorage(storage, barcode , operatingPosIds);
+                if(pos != null){
+                    return pos;
+                }
             }catch(Exception e){
                 log.info("尝试从["+storage.getCid()+"]中为["+barcode.getBarcode()+"]查找空位失败:" + e.getMessage());
             }
         }
-
         return null;
     }
     /**